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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">robot_interfaces::RobotData&lt; Action, Observation, Status &gt; Class Template Reference</div>  </div>
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<p>Contains all the input and output data of the robot.  
 <a href="classrobot__interfaces_1_1RobotData.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="robot__data_8hpp_source.html">robot_data.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a73dad807aaccab42802c674022a6e3a0"><td class="memTemplParams" colspan="2"><a class="anchor" id="a73dad807aaccab42802c674022a6e3a0"></a>
template&lt;typename Type &gt; </td></tr>
<tr class="memitem:a73dad807aaccab42802c674022a6e3a0"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; Type &gt;</td></tr>
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Public Member Functions</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>RobotData</b> (size_t history_length=1000, bool use_shared_memory=false, __attribute__((unused)) std::string shared_memory_address=&quot;&quot;)</td></tr>
<tr class="separator:a5e9b05cf78521359f0d4229c7d035b0e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a1a6d8193012e1167ce725d9e2c8934fc"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1a6d8193012e1167ce725d9e2c8934fc"></a>
Ptr&lt; Timeseries&lt; Action &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>desired_action</b></td></tr>
<tr class="separator:a1a6d8193012e1167ce725d9e2c8934fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec5eb3582eb4e791a7bfefe4bae38526"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec5eb3582eb4e791a7bfefe4bae38526"></a>
Ptr&lt; Timeseries&lt; Action &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>applied_action</b></td></tr>
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Ptr&lt; Timeseries&lt; Observation &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>observation</b></td></tr>
<tr class="separator:a932c50df98ed3287ce8b6cd35f78bfc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a656a4783506a7da8114c9f96fd14f931"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a656a4783506a7da8114c9f96fd14f931"></a>
Ptr&lt; Timeseries&lt; Status &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>status</b></td></tr>
<tr class="separator:a656a4783506a7da8114c9f96fd14f931"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename Action, typename Observation, typename Status&gt;<br />
class robot_interfaces::RobotData&lt; Action, Observation, Status &gt;</h3>

<p>Contains all the input and output data of the robot. </p>
<p>This means the</p><ul>
<li>desired_action which was requested by the robot user</li>
<li>applied_action which was actually applied and may not be and may not be identical to desired_action for safety reasons</li>
<li>observation made by the robot</li>
<li>status which keeps track of some timing issues (may still change).</li>
</ul>
<p>See this graph to understand how they relate to each other precisely in terms of time:</p>
<p>|---&mdash; t = 0 ---&mdash;|---&mdash; t = 1 ---&mdash;| |--&mdash; action0 --&mdash;|--&mdash; action1 --&mdash;| o o o b b b s s s 0 1 2</p>
<dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">Action</td><td></td></tr>
    <tr><td class="paramname">Observation</td><td></td></tr>
    <tr><td class="paramname">Status</td><td></td></tr>
  </table>
  </dd>
</dl>
</div><hr/>The documentation for this class was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/robot_interfaces/include/robot_interfaces/<a class="el" href="robot__data_8hpp_source.html">robot_data.hpp</a></li>
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